CN211709358U - Synchronous belt drive mechanical arm with lifting function - Google Patents
Synchronous belt drive mechanical arm with lifting function Download PDFInfo
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- CN211709358U CN211709358U CN201922142810.1U CN201922142810U CN211709358U CN 211709358 U CN211709358 U CN 211709358U CN 201922142810 U CN201922142810 U CN 201922142810U CN 211709358 U CN211709358 U CN 211709358U
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- synchronizing wheel
- joint shell
- fixedly connected
- driving motor
- connecting rod
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Abstract
The utility model discloses a synchronous belt drive arm with raising and lowering functions, the on-line screen storage device comprises a base, top one side of base is provided with driving motor, and rotates between driving motor's output shaft and the base and be connected, the common fixedly connected with motor mount of driving motor and base, the inboard of base is provided with first joint shell, first joint shell is close to the first joint switching frame of driving motor's the first joint of one end fixedly connected with. The utility model discloses in, rotate the in-process at this arm, the mount table is the horizontality with ground always, this arm adopts synchronous belt drive mode control, realized only using a driving motor to the control of many joints linkage, thereby make whole arm control get up conveniently and with low costs, it can withdraw initial condition when not using and deposit, occupation space is little, thereby this section arm has, thereby just can solve the problem that can not replace human work because of can not freely height-adjusting when using ordinary robot.
Description
Technical Field
The utility model relates to an arm technical field especially relates to a synchronous belt drive arm with raising and lowering functions.
Background
With the development of automation technology, the use of robots to replace human work has become a trend, but some industries use common robots far less than enough, and the height of the robots needs to be freely adjusted like humans, and in this case, the mechanical arm needs to be used to meet the requirement;
most of mechanical arms on the market are realized based on multiple motors and multiple degrees of freedom, so that the mechanical arms are not convenient to control, the multiple motors are high in cost, and some mechanical arms cannot be retracted and extended, so that the occupied space is large.
SUMMERY OF THE UTILITY MODEL
The utility model aims at solving the defects existing in the prior art and providing a synchronous belt transmission mechanical arm with a lifting function.
In order to achieve the above purpose, the utility model adopts the following technical scheme: a synchronous belt transmission mechanical arm with a lifting function comprises a base, wherein a driving motor is arranged on one side of the top of the base, an output shaft of the driving motor is rotatably connected with the base, the driving motor and the base are fixedly connected with a motor fixing frame, a first joint shell is arranged on the inner side of the base, one end, close to the driving motor, of the first joint shell is fixedly connected with a first joint switching frame, the first joint switching frame is fixedly connected with the output shaft of the driving motor, a speed reducer is arranged between the first joint switching frame and the motor fixing frame, the speed reducer is connected with the output shaft of the driving motor in an embedded mode, first bearings are rotatably connected to two sides of the first joint shell, the output shaft of the driving motor is rotatably connected with two first bearings, and a first synchronizing wheel is arranged in the middle position of the two first bearings, a first synchronizing wheel is fixedly connected with an output shaft of a driving motor, a first connecting rod is fixedly connected with the top of the first joint shell, a second joint shell is fixedly connected with the top end of the first connecting rod, a second connecting rod is fixedly connected with one side, far away from the first connecting rod, of the second joint shell, a first fixing cover is fixedly connected with one end, close to the first connecting rod, of the outer side of the second joint shell, a second fixing cover is fixedly connected with one end, close to the second connecting rod, of the outer side of the second joint shell, a second synchronizing wheel is arranged on the inner side of the second joint shell, the second synchronizing wheel is rotatably connected with the first fixing cover, the second synchronizing wheel and the first synchronizing wheel are jointly meshed and connected with a first synchronizing belt, a third synchronizing wheel is arranged on one side, far away from the second synchronizing wheel, of the inner side of the second joint shell, and the third synchronizing wheel and the second synchronizing wheel are jointly and fixedly connected, and rotate between solid axle and the fixed lid of second and be connected, the top fixedly connected with third joint shell of second connecting rod, the inner wall both sides of third joint shell rotate jointly and are connected with the connecting axle, and the inner wall that the both ends of connecting axle all run through the third joint shell extends to the outside, the common fixedly connected with mount table in both ends of connecting axle, the inboard intermediate position of third joint shell is provided with the fourth synchronizing wheel, and fixed connection between fourth synchronizing wheel and the connecting axle, the common meshing is connected with the second hold-in range between fourth synchronizing wheel and the third synchronizing wheel.
As a further description of the above technical solution:
and a second bearing is arranged on one side, close to the third synchronizing wheel, of the second synchronizing wheel, the second bearing is rotatably connected with the solid shaft, the second bearing is rotatably connected with the inner wall of the second joint shell, a hollow shaft is jointly arranged between the second bearing and the third synchronizing wheel, and the hollow shaft is rotatably connected with the solid shaft in an embedded manner.
As a further description of the above technical solution:
and third bearings are arranged on two sides of the fourth synchronizing wheel, and the two third bearings are rotatably connected with the connecting shaft.
As a further description of the above technical solution:
the gear ratio of the first synchronizing wheel to the second synchronizing wheel is 2:1, the gear ratio of the third synchronizing wheel to the fourth synchronizing wheel is 1: 2.
as a further description of the above technical solution:
the first synchronous belt and the second synchronous belt are respectively positioned on the inner sides of the first connecting rod and the second connecting rod.
As a further description of the above technical solution:
and a key is arranged on one side of the outer surface of the hollow shaft, which is close to the third synchronizing wheel, and the key is connected with the inner wall of the second joint shell in an embedded manner.
The utility model discloses following beneficial effect has:
1. this synchronous belt drive arm with raising and lowering functions, because the gear ratio of first synchronizing wheel and second synchronizing wheel is 2:1, the first synchronizing wheel is immobile, when the first link rotates 90 °, the first synchronizing belt moves by one quarter of a circle, and the gear ratio of the first synchronizing wheel to the second synchronizing wheel is 2:1, namely the circumference ratio is 2:1, so that the second synchronizing wheel needs to move by half a circle, namely 180 degrees, at the moment, the included angle between the first connecting rod and the second connecting rod is 180 degrees, the descending is the same, the gear ratio of the third synchronizing wheel to the fourth synchronizing wheel is 1:2, the third synchronizing wheel is installed on the second fixed cover through a solid shaft, the second synchronizing wheel is fixed on the first fixed cover through a hollow shaft, when the mechanical arm is unfolded, the second synchronizing wheel rotates 180 degrees relative to the first connecting rod, namely the third synchronizing wheel rotates 180 degrees in reverse direction relative to the second connecting rod, the lifting is the same, the fourth synchronizing wheel rotates 90 degrees relative to the second connecting rod, the mounting table rotates from the horizontal state with the second connecting rod to the vertical state with the second connecting rod initially, but in the rotating process, the mounting table always is in the horizontal state with the ground, the mechanical arm is controlled in a synchronous belt transmission mode, and realizes the control of multi-joint linkage by only using one driving motor, therefore, the whole mechanical arm is convenient to control and low in cost.
2. The synchronous belt transmission mechanical arm with the lifting function can be retracted to an initial state for storage when not in use, occupies a small space, and can solve the problem that the height of a common robot cannot be freely adjusted to replace human work when the common robot is used.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic front view of the structure of the present invention;
fig. 3 is a schematic top view of the present invention;
fig. 4 is a schematic structural view of the driving motor, the speed reducer and the first synchronizing wheel of the present invention;
fig. 5 is a schematic structural view of the second synchronizing wheel and the third synchronizing wheel of the present invention;
fig. 6 is a schematic structural view of a fourth synchronous wheel according to the present invention.
Illustration of the drawings: 1. a base; 2. a first joint housing; 3. a drive motor; 4. a motor fixing frame; 5. a speed reducer; 6. a first link; 7. a second joint housing; 8. a first fixed cover; 9. a second link; 10. a third joint housing; 11. an installation table; 12. a connecting shaft; 13. a first joint adapter; 14. a first bearing; 15. a first synchronizing wheel; 16. a second synchronizing wheel; 17. a first synchronization belt; 18. a third synchronizing wheel; 19. a second bearing; 20. a hollow shaft; 21. a key; 22. a fourth synchronizing wheel; 23. a second stationary cover; 24. a solid shaft; 25. a third bearing; 26. a second timing belt.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention; the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance, and furthermore, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1-6, the present invention provides an embodiment: a synchronous belt transmission mechanical arm with a lifting function comprises a base 1, a driving motor 3 is arranged on one side of the top of the base 1, an output shaft of the driving motor 3 is rotatably connected with the base 1, the driving motor 3 and the base 1 are fixedly connected with a motor fixing frame 4, a first joint shell 2 is arranged on the inner side of the base 1, one end, close to the driving motor 3, of the first joint shell 2 is fixedly connected with a first joint switching frame 13, the first joint switching frame 13 is fixedly connected with the output shaft of the driving motor 3, a speed reducer 5 is arranged between the first joint switching frame 13 and the motor fixing frame 4, the speed reducer 5 is connected with the output shaft of the driving motor 3 in an embedded mode, first bearings 14 are rotatably connected to two sides of the first joint shell 2, the output shaft of the driving motor 3 is rotatably connected with the two first bearings 14, a first synchronous wheel 15 is arranged in the middle position of the two first bearings 14, a first synchronizing wheel 15 is fixedly connected with an output shaft of the driving motor 3, a first connecting rod 6 is fixedly connected with the top of the first joint shell 2, a second joint shell 7 is fixedly connected with the top end of the first connecting rod 6, a second connecting rod 9 is fixedly connected with one side, far away from the first connecting rod 6, of the second joint shell 7, a first fixing cover 8 is fixedly connected with one end, close to the first connecting rod 6, of the outer side of the second joint shell 7, a second fixing cover 23 is fixedly connected with one end, close to the second connecting rod 9, of the outer side of the second joint shell 7, a second synchronizing wheel 16 is arranged on the inner side of the second joint shell 7, the second synchronizing wheel 16 is rotatably connected with the first fixing cover 8, a first synchronizing belt 17 is jointly engaged with the second synchronizing wheel 15, a third synchronizing wheel 18 is arranged on one side, far away from the second synchronizing wheel 16, of the inner side of the second joint shell 7, the third synchronizing wheel 18 and the second synchronizing wheel 16 are fixedly connected together, the solid shaft 24 is rotatably connected with the second fixing cover 23, the top end of the second connecting rod 9 is fixedly connected with a third joint shell 10, two sides of the inner wall of the third joint shell 10 are rotatably connected with the connecting shaft 12 together, two ends of the connecting shaft 12 penetrate through the inner wall of the third joint shell 10 and extend to the outside, two ends of the connecting shaft 12 are fixedly connected with the mounting table 11 together, a fourth synchronizing wheel 22 is arranged at the middle position of the inner side of the third joint shell 10, the fourth synchronizing wheel 22 is fixedly connected with the connecting shaft 12, and a second synchronizing belt 26 is meshed with the fourth synchronizing wheel 22 and the third synchronizing wheel 18 together.
A second bearing 19 is arranged on one side, close to the third synchronizing wheel 18, of the second synchronizing wheel 16, the second bearing 19 is in rotational connection with the solid shaft 24, the second bearing 19 is in rotational connection with the inner wall of the second joint housing 7, a hollow shaft 20 is arranged between the second bearing 19 and the third synchronizing wheel 18, the hollow shaft 20 is in embedded rotational connection with the solid shaft 24, and resistance to rotation of the solid shaft 24 is smaller through the second bearing 19; third bearings 25 are arranged on two sides of the fourth synchronizing wheel 22, the two third bearings 25 are rotatably connected with the connecting shaft 12, and the third bearings 25 can reduce the resistance of the connecting shaft 12 during rotation; the gear ratio of the first synchronizing wheel 15 to the second synchronizing wheel 16 is 2:1, the gear ratio of the third synchronizing wheel 18 to the fourth synchronizing wheel 22 is 1:2, the mounting table 11 can be always horizontal to the ground in the process of extending and retracting the mechanical arm; the first synchronous belt 17 and the second synchronous belt 26 are respectively positioned at the inner sides of the first connecting rod 6 and the second connecting rod 9, so that the first synchronous belt 17 and the second synchronous belt 26 are protected conveniently, and the whole volume of the mechanical arm can be saved; a key 21 is arranged on one side, close to the third synchronizing wheel 18, of the outer surface of the hollow shaft 20, and the key 21 is connected with the inner wall of the second joint housing 7 in an embedded mode, so that the hollow shaft 20 and the inner wall of the second joint housing 7 are fixed conveniently, and the hollow shaft 20 is prevented from rotating.
The working principle is as follows: when a synchronous belt transmission mechanical arm with a lifting function is used, a driving motor 3 on a base 1 drives a first synchronous wheel 15 in a first joint shell 2 to rotate, when the first synchronous wheel 15 rotates, a first bearing 14 can enable an output shaft of the driving motor 3 to rotate more smoothly, and larger friction force is avoided, so that the rotation between a first connecting rod 6 and the base 1 is smoother, the first synchronous wheel 15 rotates to drive a second synchronous wheel 16 in a second joint shell 7 to rotate through a first synchronous belt 17, then the second synchronous wheel 16 drives a third synchronous wheel 18 to rotate through a solid shaft 24 in a hollow shaft 20, when the second synchronous wheel 16 and the third synchronous wheel 18 rotate, the resistance force applied to the solid shaft 24 when the solid shaft 24 rotates between a first fixed cover 8 and a second fixed cover 23 is reduced through a second bearing 19, so that the rotation between the first connecting rod 6 and a second connecting rod 9 is smoother, third synchronizing wheel 18 drives fourth synchronizing wheel 22 through second hold-in range 26 next, when fourth synchronizing wheel 22 rotates, third bearing 25 can make the resistance that receives when rotating in connecting axle 12 diminish, thereby make the rotation between second connecting rod 9 and the mount table 11 more smooth and easy, when the arm deceleration operation, the restriction that makes driving motor 3 fortune rotational speed through speed reducer 5 between first joint switching frame 13 and the motor mount 4 can reduce arm operation line speed, because the tooth ratio of first synchronizing wheel 15 and second synchronizing wheel 16 is 2:1, the first synchronizing wheel 15 is stationary, the first synchronizing belt 17 moves by one quarter of a circle when the first link 6 rotates by 90 °, and the gear ratio of the first synchronizing wheel 15 to the second synchronizing wheel 16 is 2:1, namely the circumference ratio is 2:1, so that the second synchronous wheel 16 needs to move by one half of a circle, namely 180 degrees, the included angle between the first connecting rod 6 and the second connecting rod 9 is 180 degrees, the descending is the same, the gear ratio of the third synchronous wheel 18 and the fourth synchronous wheel 22 is 1:2, the third synchronous wheel 18 is installed on the second fixed cover 23 through the solid shaft 24, the second synchronous wheel 16 is fixed on the first fixed cover 8 through the hollow shaft 20, the second synchronous wheel 16 rotates 180 degrees relative to the first connecting rod 6 when the mechanical arm is unfolded, namely the third synchronous wheel 18 rotates 180 degrees in reverse direction relative to the second connecting rod 9, the fourth synchronous wheel 22 rotates 90 degrees relative to the second connecting rod 9, the installation platform 11 rotates from the horizontal state with the second connecting rod 9 to the vertical state with the second connecting rod 9 initially, but during the rotation, the installation platform 11 is always horizontal with the ground, the mechanical arm is controlled in a synchronous belt transmission mode, and the control of multi-joint linkage by only using one driving motor 3 is realized, so that the whole mechanical arm is convenient to control, low in cost and certain in practicability.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications and variations can be made in the embodiments or in part of the technical features of the embodiments without departing from the spirit and the principles of the present invention.
Claims (6)
1. The utility model provides a synchronous belt drive arm with raising and lowering functions, includes base (1), its characterized in that: a driving motor (3) is arranged on one side of the top of the base (1), an output shaft of the driving motor (3) is rotatably connected with the base (1), a motor fixing frame (4) is fixedly connected with the driving motor (3) and the base (1) together, a first joint shell (2) is arranged on the inner side of the base (1), a first joint switching frame (13) is fixedly connected to one end, close to the driving motor (3), of the first joint shell (2), the first joint switching frame (13) is fixedly connected with the output shaft of the driving motor (3), a speed reducer (5) is arranged between the first joint switching frame (13) and the motor fixing frame (4), the speed reducer (5) is connected with the output shaft of the driving motor (3) in an embedded manner, and first bearings (14) are rotatably connected to two sides of the first joint shell (2), the output shaft of the driving motor (3) is rotatably connected with the two first bearings (14), a first synchronizing wheel (15) is arranged in the middle of the two first bearings (14), the first synchronizing wheel (15) is fixedly connected with the output shaft of the driving motor (3), a first connecting rod (6) is fixedly connected with the top of the first joint shell (2), a second joint shell (7) is fixedly connected with the top end of the first connecting rod (6), a second connecting rod (9) is fixedly connected with one side, far away from the first connecting rod (6), of the second joint shell (7), a first fixing cover (8) is fixedly connected with one end, close to the first connecting rod (6), of the outer side of the second joint shell (7), a second fixing cover (23) is fixedly connected with one end, close to the second connecting rod (9), of the outer side of the second joint shell (7), and a second synchronizing wheel (16) is arranged on the inner side of the second joint shell (7), a second synchronizing wheel (16) is rotatably connected with the first fixing cover (8), a first synchronizing belt (17) is meshed and connected with the second synchronizing wheel (16) and the first synchronizing wheel (15) together, a third synchronizing wheel (18) is arranged on one side, far away from the second synchronizing wheel (16), of the inner side of the second joint shell (7), the third synchronizing wheel (18) is fixedly connected with the second synchronizing wheel (16) together, a solid shaft (24) is rotatably connected with the second fixing cover (23), a third joint shell (10) is fixedly connected with the top end of the second connecting rod (9), connecting shafts (12) are rotatably connected with two sides of the inner wall of the third joint shell (10) together, two ends of each connecting shaft (12) extend to the outer side through the inner wall of the third joint shell (10), and mounting tables (11) are fixedly connected with two ends of each connecting shaft (12) together, the inboard intermediate position of third joint shell (10) is provided with fourth synchronizing wheel (22), and fixed connection between fourth synchronizing wheel (22) and connecting axle (12), it is connected with second hold-in range (26) to mesh jointly between fourth synchronizing wheel (22) and third synchronizing wheel (18).
2. The synchronous belt drive mechanical arm with the lifting function as claimed in claim 1, wherein: one side of the second synchronizing wheel (16) close to the third synchronizing wheel (18) is provided with a second bearing (19), the second bearing (19) is rotatably connected with the solid shaft (24), the second bearing (19) is rotatably connected with the inner wall of the second joint shell (7), a hollow shaft (20) is jointly arranged between the second bearing (19) and the third synchronizing wheel (18), and the hollow shaft (20) is embedded into the solid shaft (24) and is rotatably connected with the solid shaft.
3. The synchronous belt drive mechanical arm with the lifting function as claimed in claim 1, wherein: and third bearings (25) are arranged on two sides of the fourth synchronizing wheel (22), and the two third bearings (25) are rotatably connected with the connecting shaft (12).
4. The synchronous belt drive mechanical arm with the lifting function as claimed in claim 1, wherein: the gear ratio of the first synchronizing wheel (15) to the second synchronizing wheel (16) is 2:1, the gear ratio of the third synchronizing wheel (18) to the fourth synchronizing wheel (22) is 1: 2.
5. the synchronous belt drive mechanical arm with the lifting function as claimed in claim 1, wherein: the first synchronous belt (17) and the second synchronous belt (26) are respectively positioned on the inner sides of the first connecting rod (6) and the second connecting rod (9).
6. The synchronous belt drive mechanical arm with the lifting function as claimed in claim 2, wherein: and a key (21) is arranged on one side of the outer surface of the hollow shaft (20) close to the third synchronizing wheel (18), and the key (21) is connected with the inner wall of the second joint shell (7) in an embedded manner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922142810.1U CN211709358U (en) | 2019-12-04 | 2019-12-04 | Synchronous belt drive mechanical arm with lifting function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922142810.1U CN211709358U (en) | 2019-12-04 | 2019-12-04 | Synchronous belt drive mechanical arm with lifting function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211709358U true CN211709358U (en) | 2020-10-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922142810.1U Active CN211709358U (en) | 2019-12-04 | 2019-12-04 | Synchronous belt drive mechanical arm with lifting function |
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| CN (1) | CN211709358U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113664868A (en) * | 2021-08-23 | 2021-11-19 | 中国北方车辆研究所 | Belt-driven 3-joint 5-degree-of-freedom mechanical arm |
-
2019
- 2019-12-04 CN CN201922142810.1U patent/CN211709358U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113664868A (en) * | 2021-08-23 | 2021-11-19 | 中国北方车辆研究所 | Belt-driven 3-joint 5-degree-of-freedom mechanical arm |
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